int DisparityMappingSettingsBenchmark()
{
unsigned int locsettings[SETTINGS_COUNT];
unsigned int locminsettings[SETTINGS_COUNT];
unsigned int locmaxsettings[SETTINGS_COUNT];
unsigned int locbestsettings[SETTINGS_COUNT];
unsigned int locmetrics[METRICS_COUNT];
unsigned int locminmetrics[METRICS_COUNT];
unsigned int locmaxmetrics[METRICS_COUNT];
unsigned int locbestmetrics[METRICS_COUNT];
unsigned int best_edge_count = VisCortx_GetMetric(RESOLUTION_MEMORY_LIMIT_1BYTE) , edge_count = 0;
unsigned int delay = VisCortx_GetMetric(DEPTHMAP_DELAY_MICROSECONDS);
unsigned int coverage = VisCortx_GetMetric(LAST_DEPTH_MAP_COVERAGE);
unsigned int too_close = VisCortx_GetMetric(LAST_DEPTH_MAP_TOO_CLOSE_COVERAGE);
unsigned int wndx=VisCortx_GetMetric(HORIZONTAL_BUFFER);
unsigned int wndy=VisCortx_GetMetric(VERTICAL_BUFFER);
unsigned int wndx_l=VisCortx_GetMetric(HORIZONTAL_BUFFER_LARGE);
unsigned int wndy_l=VisCortx_GetMetric(VERTICAL_BUFFER_LARGE);
unsigned int wndx_xl=VisCortx_GetMetric(HORIZONTAL_BUFFER_EXTRALARGE);
unsigned int wndy_xl=VisCortx_GetMetric(VERTICAL_BUFFER_EXTRALARGE);
int processed = 0;
locbestsettings[DEPTHMAP_COMPARISON_DECIDES_FOR_MORE_PIXELS_RIGHT]=VisCortx_GetSetting(DEPTHMAP_COMPARISON_DECIDES_FOR_MORE_PIXELS_RIGHT);
locminsettings[DEPTHMAP_COMPARISON_DECIDES_FOR_MORE_PIXELS_RIGHT]=6;
locmaxsettings[DEPTHMAP_COMPARISON_DECIDES_FOR_MORE_PIXELS_RIGHT]=6;
//locbestsettings[DEPTHMAP_COMPARISON_DECIDES_FOR_MORE_PIXELS_DOWN]=VisCortx_GetSetting(DEPTHMAP_COMPARISON_DECIDES_FOR_MORE_PIXELS_DOWN);
//locminsettings[DEPTHMAP_COMPARISON_DECIDES_FOR_MORE_PIXELS_DOWN]=9;
//locmaxsettings[DEPTHMAP_COMPARISON_DECIDES_FOR_MORE_PIXELS_DOWN]=12;
locbestsettings[DEPTHMAP_DETAIL]=VisCortx_GetSetting(DEPTHMAP_DETAIL);
locminsettings[DEPTHMAP_DETAIL]=6;
locmaxsettings[DEPTHMAP_DETAIL]=6;
locbestsettings[PATCH_HIST_THRESHOLD_R]=VisCortx_GetSetting(PATCH_HIST_THRESHOLD_R);
locminsettings[PATCH_HIST_THRESHOLD_R]=7;
locmaxsettings[PATCH_HIST_THRESHOLD_R]=7;
locbestsettings[PATCH_COMPARISON_EDGES_PERCENT_REQUIRED]=VisCortx_GetSetting(PATCH_COMPARISON_EDGES_PERCENT_REQUIRED);
locminsettings[PATCH_COMPARISON_EDGES_PERCENT_REQUIRED]=13;
locmaxsettings[PATCH_COMPARISON_EDGES_PERCENT_REQUIRED]=13;
locbestmetrics[HORIZONTAL_BUFFER]=VisCortx_GetMetric(HORIZONTAL_BUFFER);
locminmetrics[HORIZONTAL_BUFFER]=8;
locmaxmetrics[HORIZONTAL_BUFFER]=8;
locbestsettings[DEPTHMAP_PREVIOUS_PATCH_SIZE_MAX_DISTANCE]=VisCortx_GetSetting(DEPTHMAP_PREVIOUS_PATCH_SIZE_MAX_DISTANCE);
locminsettings[DEPTHMAP_PREVIOUS_PATCH_SIZE_MAX_DISTANCE]=5;
locmaxsettings[DEPTHMAP_PREVIOUS_PATCH_SIZE_MAX_DISTANCE]=5;
//locbestmetrics[VERTICAL_BUFFER]=VisCortx_GetMetric(VERTICAL_BUFFER);
//locminmetrics[VERTICAL_BUFFER]=7;
//locmaxmetrics[VERTICAL_BUFFER]=10;
VisCortx_SetSetting(PATCH_COMPARISON_LEVELS,2);
unsigned int totalloops = 1;
totalloops *= 1+( locmaxmetrics[HORIZONTAL_BUFFER] - locminmetrics[HORIZONTAL_BUFFER] );
totalloops *= 1+( locmaxsettings[DEPTHMAP_PREVIOUS_PATCH_SIZE_MAX_DISTANCE] - locminsettings[DEPTHMAP_PREVIOUS_PATCH_SIZE_MAX_DISTANCE] );
totalloops *= 1+( locmaxsettings[PATCH_COMPARISON_EDGES_PERCENT_REQUIRED] - locminsettings[PATCH_COMPARISON_EDGES_PERCENT_REQUIRED] );
totalloops *= 1+( locmaxsettings[PATCH_HIST_THRESHOLD_R] - locminsettings[PATCH_HIST_THRESHOLD_R] );
totalloops *= 1+( locmaxsettings[DEPTHMAP_DETAIL] - locminsettings[DEPTHMAP_DETAIL] );
totalloops *= 1+( locmaxsettings[DEPTHMAP_COMPARISON_DECIDES_FOR_MORE_PIXELS_RIGHT] - locminsettings[DEPTHMAP_COMPARISON_DECIDES_FOR_MORE_PIXELS_RIGHT] );
fprintf(stderr,"\n\n\n\nWill Perform a total of %u loops , assuming 1second per loop we will wait for %u seconds or %0.2f minutes\n\n\n\n",totalloops,totalloops,(float) totalloops/60);
//THE MAIN LOOP
for ( locsettings[DEPTHMAP_PREVIOUS_PATCH_SIZE_MAX_DISTANCE]=locminsettings[DEPTHMAP_PREVIOUS_PATCH_SIZE_MAX_DISTANCE];
locsettings[DEPTHMAP_PREVIOUS_PATCH_SIZE_MAX_DISTANCE]<=locmaxsettings[DEPTHMAP_PREVIOUS_PATCH_SIZE_MAX_DISTANCE];
locsettings[DEPTHMAP_PREVIOUS_PATCH_SIZE_MAX_DISTANCE]++ )
{
for ( locsettings[DEPTHMAP_COMPARISON_DECIDES_FOR_MORE_PIXELS_RIGHT]=locminsettings[DEPTHMAP_COMPARISON_DECIDES_FOR_MORE_PIXELS_RIGHT];
locsettings[DEPTHMAP_COMPARISON_DECIDES_FOR_MORE_PIXELS_RIGHT]<=locmaxsettings[DEPTHMAP_COMPARISON_DECIDES_FOR_MORE_PIXELS_RIGHT];
locsettings[DEPTHMAP_COMPARISON_DECIDES_FOR_MORE_PIXELS_RIGHT]++ )
{
for ( locsettings[PATCH_HIST_THRESHOLD_R]=locminsettings[PATCH_HIST_THRESHOLD_R];
locsettings[PATCH_HIST_THRESHOLD_R]<=locmaxsettings[PATCH_HIST_THRESHOLD_R];
locsettings[PATCH_HIST_THRESHOLD_R]++)
{
for ( locsettings[PATCH_COMPARISON_EDGES_PERCENT_REQUIRED]=locminsettings[PATCH_COMPARISON_EDGES_PERCENT_REQUIRED];
locsettings[PATCH_COMPARISON_EDGES_PERCENT_REQUIRED]<=locmaxsettings[PATCH_COMPARISON_EDGES_PERCENT_REQUIRED];
locsettings[PATCH_COMPARISON_EDGES_PERCENT_REQUIRED]++)
{
for ( locsettings[DEPTHMAP_DETAIL]=locminsettings[DEPTHMAP_DETAIL];
locsettings[DEPTHMAP_DETAIL]<=locmaxsettings[DEPTHMAP_DETAIL];
locsettings[DEPTHMAP_DETAIL]++)
{
for ( locmetrics[HORIZONTAL_BUFFER]=locminmetrics[HORIZONTAL_BUFFER];
locmetrics[HORIZONTAL_BUFFER]<=locmaxmetrics[HORIZONTAL_BUFFER];
locmetrics[HORIZONTAL_BUFFER]++)
{
VisCortx_SetMetric(HORIZONTAL_BUFFER,locmetrics[HORIZONTAL_BUFFER]); VisCortx_SetMetric(VERTICAL_BUFFER,locmetrics[HORIZONTAL_BUFFER]);
VisCortx_SetMetric(HORIZONTAL_BUFFER_LARGE,2*locmetrics[HORIZONTAL_BUFFER]); VisCortx_SetMetric(VERTICAL_BUFFER_LARGE,2*locmetrics[HORIZONTAL_BUFFER]);
VisCortx_SetMetric(HORIZONTAL_BUFFER_EXTRALARGE,3*locmetrics[HORIZONTAL_BUFFER]); VisCortx_SetMetric(VERTICAL_BUFFER_EXTRALARGE,3*locmetrics[HORIZONTAL_BUFFER]);
VisCortx_SetSetting(DEPTHMAP_PREVIOUS_PATCH_SIZE_MAX_DISTANCE,locsettings[DEPTHMAP_PREVIOUS_PATCH_SIZE_MAX_DISTANCE]);
VisCortx_SetSetting(DEPTHMAP_DETAIL,locsettings[DEPTHMAP_DETAIL]);
VisCortx_SetSetting(PATCH_COMPARISON_EDGES_PERCENT_REQUIRED,locsettings[PATCH_COMPARISON_EDGES_PERCENT_REQUIRED]);
VisCortx_SetSetting(PATCH_COMPARISON_EDGES_PERCENT_REQUIRED_LARGE_PATCH,locsettings[PATCH_COMPARISON_EDGES_PERCENT_REQUIRED]*2);
VisCortx_SetSetting(PATCH_COMPARISON_EDGES_PERCENT_REQUIRED_EXTRALARGE_PATCH,locsettings[PATCH_COMPARISON_EDGES_PERCENT_REQUIRED]*3);
locsettings[DEPTHMAP_COMPARISON_DECIDES_FOR_MORE_PIXELS_DOWN] = locsettings[DEPTHMAP_COMPARISON_DECIDES_FOR_MORE_PIXELS_RIGHT] * 2;
VisCortx_SetSetting(DEPTHMAP_COMPARISON_DECIDES_FOR_MORE_PIXELS_RIGHT,locsettings[DEPTHMAP_COMPARISON_DECIDES_FOR_MORE_PIXELS_RIGHT]);
VisCortx_SetSetting(DEPTHMAP_COMPARISON_DECIDES_FOR_MORE_PIXELS_DOWN,locsettings[DEPTHMAP_COMPARISON_DECIDES_FOR_MORE_PIXELS_DOWN]);
VisCortx_SetSetting(PATCH_HIST_THRESHOLD_R,locbestsettings[PATCH_HIST_THRESHOLD_R]); VisCortx_SetSetting(PATCH_HIST_THRESHOLD_R,locbestsettings[PATCH_HIST_THRESHOLD_R]); VisCortx_SetSetting(PATCH_HIST_THRESHOLD_R,locbestsettings[PATCH_HIST_THRESHOLD_R]);
VisCortx_FullDepthMap(0);
ExecutePipeline();
++processed;
VisCortx_PrepareCleanSobeledGaussianAndDerivative(DEPTH_LEFT_VIDEO,GENERAL_4,GENERAL_5,30,255);
edge_count = VisCortx_CountEdges(GENERAL_4,0,0,VisCortx_GetMetric(LEFT_EYE),VisCortx_GetMetric(RIGHT_EYE));
if ( (we_have_a_disparity_ground_truth)&&(ground!=0) )
{
unsigned char * depth_video = VisCortx_ReadFromVideoRegister(DEPTH_LEFT_VIDEO,GetMetric(RESOLUTION_X),GetMetric(RESOLUTION_Y),3);
unsigned long diff=AbsDifferenceTotalRGBAsMono(ground,depth_video,GetMetric(RESOLUTION_X)*GetMetric(RESOLUTION_Y)*3);
fprintf(stderr,"DIFFERENCE WITH GROUND TRUTH IS %u \n",diff);
}
if (processed % 10 == 0) { fprintf(stderr,"\n\n DONE WITH %u/%u \n\n",processed,totalloops); printf("\n\n DONE WITH %u/%u \n\n",processed,totalloops); }
if (
( delay <= VisCortx_GetMetric(DEPTHMAP_DELAY_MICROSECONDS) )
&& ( coverage <= VisCortx_GetMetric(LAST_DEPTH_MAP_COVERAGE) )
&& ( edge_count <= best_edge_count )
//&& ( too_close <= VisCortx_GetMetric(LAST_DEPTH_MAP_TOO_CLOSE_COVERAGE) )
)
{
VisCortX_SaveVideoRegisterToFile(DEPTH_LEFT_VIDEO,out_filename);
VisCortX_SaveVideoRegisterToFile(EDGES_LEFT,out_filenameedges);
VisCortX_SaveVideoRegisterToFile(SECOND_DERIVATIVE_LEFT,out_filename2nd);
VisCortX_SaveVideoRegisterToFile(GENERAL_4,out_filenamedepthedges);
best_edge_count = edge_count;
delay = VisCortx_GetMetric(DEPTHMAP_DELAY_MICROSECONDS);
coverage = VisCortx_GetMetric(LAST_DEPTH_MAP_COVERAGE);
too_close = VisCortx_GetMetric(LAST_DEPTH_MAP_TOO_CLOSE_COVERAGE);
locbestsettings[PATCH_HIST_THRESHOLD_R]=VisCortx_GetSetting(PATCH_HIST_THRESHOLD_R);
locbestsettings[PATCH_HIST_THRESHOLD_G]=locbestsettings[PATCH_HIST_THRESHOLD_R];
locbestsettings[PATCH_HIST_THRESHOLD_B]=locbestsettings[PATCH_HIST_THRESHOLD_R];
locbestsettings[DEPTHMAP_PREVIOUS_PATCH_SIZE_MAX_DISTANCE]=VisCortx_GetSetting(DEPTHMAP_PREVIOUS_PATCH_SIZE_MAX_DISTANCE);
locbestsettings[DEPTHMAP_COMPARISON_DECIDES_FOR_MORE_PIXELS_DOWN]=VisCortx_GetSetting(DEPTHMAP_COMPARISON_DECIDES_FOR_MORE_PIXELS_DOWN);
locbestsettings[DEPTHMAP_COMPARISON_DECIDES_FOR_MORE_PIXELS_RIGHT]=VisCortx_GetSetting(DEPTHMAP_COMPARISON_DECIDES_FOR_MORE_PIXELS_RIGHT);
locbestsettings[PATCH_COMPARISON_EDGES_PERCENT_REQUIRED]=VisCortx_GetSetting(PATCH_COMPARISON_EDGES_PERCENT_REQUIRED);
locbestsettings[DEPTHMAP_DETAIL]=VisCortx_GetSetting(DEPTHMAP_DETAIL);
locbestmetrics[HORIZONTAL_BUFFER]=VisCortx_GetMetric(HORIZONTAL_BUFFER);
locbestmetrics[VERTICAL_BUFFER]=VisCortx_GetMetric(VERTICAL_BUFFER);
}
}
}
}
}
}
}
VisCortx_GetHyperVisorStatus(1,0,0);
fprintf(stderr,"\n\n\n\n\n\n");
fprintf(stderr,"Best DEPTHMAP_COMPARISON_DECIDES_FOR_MORE_PIXELS_RIGHT = %u \n",locbestsettings[DEPTHMAP_COMPARISON_DECIDES_FOR_MORE_PIXELS_RIGHT]);
fprintf(stderr,"Best DEPTHMAP_COMPARISON_DECIDES_FOR_MORE_PIXELS_DOWN = %u \n",locbestsettings[DEPTHMAP_COMPARISON_DECIDES_FOR_MORE_PIXELS_DOWN]);
fprintf(stderr,"Best Histogram Threshold = %u \n",locbestsettings[PATCH_HIST_THRESHOLD_R]);
fprintf(stderr,"Best Edges Percent = %u \n",locbestsettings[PATCH_COMPARISON_EDGES_PERCENT_REQUIRED]);
fprintf(stderr,"Best Detail = %u \n",locbestsettings[DEPTHMAP_DETAIL]);
fprintf(stderr,"Best Previous PATCH anchor size = %u \n",locbestsettings[DEPTHMAP_PREVIOUS_PATCH_SIZE_MAX_DISTANCE]);
fprintf(stderr,"Best Window size = %u x %u \n",locbestmetrics[HORIZONTAL_BUFFER],locbestmetrics[VERTICAL_BUFFER]);
fprintf(stderr,"Best Edge Count = %u , OpenCV count = %u , RGB count = %u \n",best_edge_count,opencv_depth_edges,rgb_edges);
fprintf(stderr,"Best output delay %u ms , coverage %u %% , too close %u %%\n",delay,coverage,too_close);
return 1;
}
int SnapWebCams()
{
if (has_init==0) { fprintf(stderr,"!"); VideoFeedsNotAccessible=1; return 0; }
if ( (!VisCortx_VideoRegistersSynced(LEFT_EYE,CALIBRATED_LEFT_EYE)) ||
(!VisCortx_VideoRegistersSynced(RIGHT_EYE,CALIBRATED_RIGHT_EYE))
)
{
fprintf(stderr,"Feeds not synchronized , not copying frame \n");
return 0;
}
if (USE_VIS_CORTEX_LOCKS)
{
unsigned int wait_time=0 , MAX_WAIT = 1000;
while ( wait_time < MAX_WAIT )
{
if ( ! VisCortx_CheckTheFramesLeftRightForLock() )
{
break;
}
++wait_time;
wxMilliSleep(10);
}
if ( wait_time >= MAX_WAIT )
{
fprintf(stderr,"Feeds locked , not copying frame \n");
return 0;
}
VisCortx_OperationLockFramesLeftRight();
}
if (last_viscrtx_pass==VisCortx_GetTime()) { return 0; }
last_viscrtx_pass=VisCortx_GetTime();
VideoFeedsNotAccessible=0;
if ( live_feeds[0].bmp_allocated ) { live_feeds[0].bmp_allocated = false; delete live_feeds[0].bmp; live_feeds[0].bmp=0; }
if ( live_feeds[1].bmp_allocated ) { live_feeds[1].bmp_allocated = false; delete live_feeds[1].bmp; live_feeds[1].bmp=0; }
if ( GetVideoRegister(CALIBRATED_LEFT_EYE) != 0)
{ //
live_feeds[0].img.SetData(GetVideoRegister(CALIBRATED_LEFT_EYE),GetCortexMetric(RESOLUTION_X),GetCortexMetric(RESOLUTION_Y),true);
if ( resc_width != GetCortexMetric(RESOLUTION_X) ) { live_feeds[0].img.Rescale(resc_width,resc_height); }
live_feeds[0].bmp= new wxBitmap(live_feeds[0].img);
live_feeds[0].bmp_allocated = true;
}
if ( GetVideoRegister(CALIBRATED_RIGHT_EYE) != 0)
{ //
live_feeds[1].img.SetData(GetVideoRegister(CALIBRATED_RIGHT_EYE),GetCortexMetric(RESOLUTION_X),GetCortexMetric(RESOLUTION_Y),true);
if ( resc_width != GetCortexMetric(RESOLUTION_X) ) { live_feeds[1].img.Rescale(resc_width,resc_height); }
live_feeds[1].bmp= new wxBitmap(live_feeds[1].img);
live_feeds[1].bmp_allocated = true;
}
if ( last_time_of_left_operation != VisCortx_GetVideoRegisterData(LAST_LEFT_OPERATION,0) )
{
last_time_of_left_operation= VisCortx_GetVideoRegisterData(LAST_LEFT_OPERATION,0);
PassVideoRegisterToFeed ( 2 , VisCortx_ReadFromVideoRegister(LAST_LEFT_OPERATION,GetCortexMetric(RESOLUTION_X),GetCortexMetric(RESOLUTION_Y),3),3 );
} else
if ( last_time_of_left_depth_map != VisCortx_GetVideoRegisterData(DEPTH_LEFT_VIDEO,0) )
{
last_time_of_left_depth_map= VisCortx_GetVideoRegisterData(DEPTH_LEFT_VIDEO,0);
PassVideoRegisterToFeed ( 2 , VisCortx_ReadFromVideoRegister(DEPTH_LEFT_VIDEO,GetCortexMetric(RESOLUTION_X),GetCortexMetric(RESOLUTION_Y),3),3 );
}
if ( last_time_of_right_operation != VisCortx_GetVideoRegisterData(LAST_RIGHT_OPERATION,0) )
{
last_time_of_right_operation= VisCortx_GetVideoRegisterData(LAST_RIGHT_OPERATION,0);
PassVideoRegisterToFeed ( 3 , VisCortx_ReadFromVideoRegister(LAST_RIGHT_OPERATION,GetCortexMetric(RESOLUTION_X),GetCortexMetric(RESOLUTION_Y),3),3 );
} else
if ( last_time_of_right_depth_map != VisCortx_GetVideoRegisterData(DEPTH_RIGHT_VIDEO,0) )
{
last_time_of_right_depth_map= VisCortx_GetVideoRegisterData(DEPTH_RIGHT_VIDEO,0);
PassVideoRegisterToFeed ( 3 , VisCortx_ReadFromVideoRegister(DEPTH_RIGHT_VIDEO,GetCortexMetric(RESOLUTION_X),GetCortexMetric(RESOLUTION_Y),3),3 );
}
if (USE_VIS_CORTEX_LOCKS)
{
VisCortx_OperationUnLockFramesLeftRight();
}
return 1 ;
}
